Method and system for establishing no-entry zone for robot

Abstract

In a system, a first closed region specifying unit specifies a first closed region on a screen for enclosing an imaged obstacle in a first image, and a first projection area determining unit determines a first virtual projection area by extending a first closed region in a first orientation. A second closed region specifying unit specifies a second closed region on the screen. The second closed region encloses the imaged obstacle in the second image. A second projection area determining unit determines a second virtual projection area by extending the second closed region in a second orientation. An establishing unit establishes an overlap region between the first and second projection areas as the no-entry zone for the robot.

1. A system for establishing, in a three-dimensional working space for a robot, a space which an obstacle occupies as a no-entry zone for the robot, the system comprising:
 an image pickup unit configured to: 
 pick up a first image of the obstacle from a first viewpoint with a first orientation with respect to the obstacle while a whole of the obstacle is within a predetermined first field of view, and 
 pick up a second image of the obstacle from a second viewpoint with a second orientation with respect to the obstacle while the whole of the obstacle is within a predetermined second field of view, the second viewpoint and second orientation being different from the first viewpoint and first orientation, respectively; 
 a display unit configured to display the picked-up first and second images on a screen thereof; 
 a first closed region specifying unit configured to receive a first closed region specified by an operator on the screen, the first closed region enclosing an imaged obstacle in the first image; 
 a first projection area determining unit configured to determine a first virtual projection area by extending the first closed region in the first orientation; 
 a second closed region specifying unit configured to receive a second closed region specified by an operator on the screen, the second closed region enclosing the imaged obstacle in the second image; 
 a second projection area determining unit configured to determine a second virtual projection area by extending the second closed region in the second orientation; and 
 an establishing unit configured to establish an overlap region between the first and second projection areas as the no-entry zone for the robot. 
 
     
     
       2. A system according to  claim 1 , wherein the robot comprises a free end, and an imaging device attached thereto and having a predetermined field of view, the image pick up unit comprises:
 the imaging device, the field of view of the imaging device being commonly used as the first and second field of views of the image pickup unit; and 
 a remote manipulating unit configured to:
 remotely manipulate the robot to locate the imaging device at the first viewpoint such that the field of view of the imaging device is directed toward the obstacle whereby the whole of the obstacle is within the field of view thereof, 
 remotely drive the imaging device to pick up the first image of the obstacle, 
 after the first image has been picked up, remotely manipulate the robot to locate the imaging device at the second viewpoint such that the field of view of the imaging device is directed toward the obstacle whereby the whole of the obstacle is within the field of view thereof, and 
 remotely drive the imaging device to pick up the second image of the obstacle. 
 
 
     
     
       3. A system according to  claim 1 , wherein, on the screen of the display on which the second image is displayed, the first projection area is displayed, and the second closed region specifying unit is configured to:
 receive two lines specified by an operator on the first projection area to clip a region of the first projection area, the region of the first projection area enclosing the imaged workpiece; and 
 determine, as the second closed area, a region surrounded by the two lines and an outline of the first projection area. 
 
     
     
       4. A system according to  claim 1 , wherein at least one of the first and second closed areas has any one of a substantially ellipsoidal shape and a substantially rectangular shape. 
     
     
       5. A method of establishing, in a three-dimensional working space for a robot, a space which an obstacle occupies as a no-entry zone for the robot, the method comprising:
 picking up a first image of the obstacle from a first viewpoint with a first orientation with respect to the obstacle while a whole of the obstacle is within a predetermined first field of view, and 
 picking up a second image of the obstacle from a second viewpoint with a second orientation with respect to the obstacle while the whole of the obstacle is within a predetermined second field of view, the second viewpoint and second orientation being different from the first viewpoint and first orientation, respectively; 
 displaying the picked-up first and second images on a screen of a display; 
 specifying a first closed region on the screen, the first closed region enclosing an imaged obstacle in the first image; 
 determining a first virtual projection area by extending the first closed region in the first orientation; 
 specifying a second closed region on the screen, the second closed region enclosing the imaged obstacle in the second image; 
 determining a second virtual projection area by extending the second closed region in the second orientation; and 
 establishing an overlap region between the first and second projection areas as the no-entry zone for the robot. 
 
     
     
       6. A method according to  claim 5 , wherein the robot comprises a free end, and an imaging device attached thereto and having a predetermined field of view, the image pick up step is configured to:
 remotely manipulate the robot to locate the imaging device at the first viewpoint such that the field of view of the imaging device as the first field of view is directed toward the obstacle whereby the obstacle is within the field of view thereof; 
 remotely drive the imaging device to pick up the first image of the obstacle, 
 remotely manipulate the robot to locate the imaging device at the second viewpoint such that the field of view of the imaging device as the second field of view is directed toward the obstacle after the first image has been picked up whereby the obstacle is within the field of view thereof; and 
 remotely drive the imaging device to pick up the second image of the obstacle. 
 
     
     
       7. A method according to  claim 5 , wherein, on the screen of the display on which the second image is displayed, the first projection area is displayed, and the second closed region specifying step is configured to:
 specify two lines on the first projection area to clip a region of the first projection area, the region of the first projection area enclosing the imaged workpiece; and 
 determine, as the second closed area, a region surrounded by the two lines and an outline of the first projection area. 
 
     
     
       8. A method according to  claim 5 , wherein at least one of the first and second closed areas has any one of a substantially ellipsoidal shape and a substantially rectangular shape.